Frequency response analysis of heavy-load palletizing robot considering elastic deformation

Abstract

For the palletizing robot’s operating characteristics of high speed, high acceleration, and heavy load, it is necessary to make a research on the structure optimization focusing on the vibration characteristics according to the mechanical and dynamic performance analysis. This article first introduces the mechanical feature and working principle of high-speed and heavy-load robot palletizer. Kinematics analysis is carried out by using D-H parameter method, which obtains positive kinematics solution and workspace. Jacobian matrix is deduced, and the relationship between joint space and Cartesian space is established. Second, for the reason that joint flexibility has a great influence on the vibration performance of the robot, a rigid–flexible coupling dynamic model is established based on the simplified model of the flexible reducer and Lagrange’s second equation to describe the joint flexibility of high-speed and heavy-load palletizing robot, and the vibration modes of the robot are analyzed. The influence of different joint stiffness on the frequency response of the system reveals the inherent properties of the heavy-load palletizing robot, which provides a theoretical basis for the optimal design and control of the heavy-load palletizing robot.